TY - GEN
T1 - Proposal of a Control Strategy Using Fuzzy Logic and Support Vector Classifier for MR Fluid Actuator with Variable Impedance Mechanism
AU - Wang, Yushi
AU - Kamezaki, Mitsuhiro
AU - He, Shan
AU - Tsunoda, Ryuichiro
AU - Zhang, Peizhi
AU - Sugano, Shigeki
N1 - Funding Information:
This work was supported by JST Moonshot RD, Grant No. JPMJMS2031, JSPS KAKENHI Grant No.21J13536, and No.22K17980.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this paper, we propose a new control method based on fuzzy PID and linear support vector classifier (SVC) for previously developed mechanism that consists of a magnetorheological fluid (MRF) piston, a fly-wheel, and two springs. The integration of the three kinds of mechanism enables three different mechanical impedance (variable impedance mechanism: VIM): viscosity, inertia, and elasticity. PID control is proven a good control method for many actuators, however, specific characteristics in VIM such as strong nonlinearity have to be taken into consideration for better performance. Here, we propose a control strategy based on fuzzy PID and linear SVC method for the VIM. Experiments show that suitable operation mode for a given target value and desired operation characteristics can be achieved, also, performance of the VIM system is improved in terms of both accuracy and response time. The proposed control strategy is proven feasible.
AB - In this paper, we propose a new control method based on fuzzy PID and linear support vector classifier (SVC) for previously developed mechanism that consists of a magnetorheological fluid (MRF) piston, a fly-wheel, and two springs. The integration of the three kinds of mechanism enables three different mechanical impedance (variable impedance mechanism: VIM): viscosity, inertia, and elasticity. PID control is proven a good control method for many actuators, however, specific characteristics in VIM such as strong nonlinearity have to be taken into consideration for better performance. Here, we propose a control strategy based on fuzzy PID and linear SVC method for the VIM. Experiments show that suitable operation mode for a given target value and desired operation characteristics can be achieved, also, performance of the VIM system is improved in terms of both accuracy and response time. The proposed control strategy is proven feasible.
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U2 - 10.1109/AIM52237.2022.9863278
DO - 10.1109/AIM52237.2022.9863278
M3 - Conference contribution
AN - SCOPUS:85137731290
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 528
EP - 533
BT - 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
Y2 - 11 July 2022 through 15 July 2022
ER -